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added parameter for maximal roll angle

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Thomas Gubler
2013-10-20 21:51:45 +02:00
parent cc324f2624
commit 1cb73687f7
4 changed files with 20 additions and 1 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+5
View File
@@ -192,6 +192,7 @@ private:
float pitch_limit_min;
float pitch_limit_max;
float roll_limit;
float throttle_min;
float throttle_max;
float throttle_cruise;
@@ -223,6 +224,7 @@ private:
param_t pitch_limit_min;
param_t pitch_limit_max;
param_t roll_limit;
param_t throttle_min;
param_t throttle_max;
param_t throttle_cruise;
@@ -339,6 +341,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.pitch_limit_min = param_find("FW_P_LIM_MIN");
_parameter_handles.pitch_limit_max = param_find("FW_P_LIM_MAX");
_parameter_handles.roll_limit = param_find("FW_R_LIM");
_parameter_handles.throttle_min = param_find("FW_THR_MIN");
_parameter_handles.throttle_max = param_find("FW_THR_MAX");
_parameter_handles.throttle_cruise = param_find("FW_THR_CRUISE");
@@ -400,6 +403,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.pitch_limit_min, &(_parameters.pitch_limit_min));
param_get(_parameter_handles.pitch_limit_max, &(_parameters.pitch_limit_max));
param_get(_parameter_handles.roll_limit, &(_parameters.roll_limit));
param_get(_parameter_handles.throttle_min, &(_parameters.throttle_min));
param_get(_parameter_handles.throttle_max, &(_parameters.throttle_max));
param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
@@ -419,6 +423,7 @@ FixedwingPositionControl::parameters_update()
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
_l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit));
_tecs.set_time_const(_parameters.time_const);
_tecs.set_min_sink_rate(_parameters.min_sink_rate);
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+3
View File
@@ -67,6 +67,9 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);